The first joint practice between the Baltimore Ravens and San Francisco 49ers on Saturday went off without a hitch, as the teams took to heart the coaches' message to play it safe.

The two physical teams practiced without incident for about 2½ hours, two days after the Ravens beat the 49ers 23-3 in the preseason opener.

Before practice, the 49ers placed injured wide receiver Chuck Jacobs on waivers. Jacobs tore an anterior cruciate ligament in the game Thursday night. To fill his roster spot, the 49ers signed receiver Lance Lewis. Lewis played three games for the Washington Redskins last season before joining the Dallas Cowboys practice squad.

Both 49ers coach Jim Harbaugh and Ravens coach John Harbaugh stressed that safety would be paramount when the teams met for the first of their three joint practices.

"We want to take care of the Ravens, we want to be safe out here, and we need them to do the same for us," Jim Harbaugh said before the workout.

He added that "we don't anticipate" any skirmishes, and indeed there was little in the way of extracurricular activity during the practice, which included several 11-on-11 drills.

Jack Harbaugh, the father of the two coaches and a longtime college coach, was among many in the extended Harbaugh family on hand.

"They practiced hard. They really had great intent and great practice," Jack Harbaugh said afterward. "To do it so respectfully, I think it speaks highly for the players and the team and how they feel about each other."

If the goal of the practice - the first such joint workout in Ravens history - was to avoid injuries and fights, then it was largely a success.

Ravens backup guard Ryan Jensen briefly left with an apparent left leg injury but later returned to action.

The practice marked Anquan Boldin's return to the Ravens facility. The former Ravens receiver was traded to the 49ers last spring after helping the Ravens win the Super Bowl.

"I built a lot of relationships in three years here," Boldin said. "It's just been cool to come back and have this happen."